The Duke of Edinburgh appeared in good spirits in his first major public engagement since leaving hospital as he joined thousands of well-wishers at the Trooping the Colour parade.

Philip attended the traditional display of pomp and pageantry to celebrate the Queen's official birthday after being discharged from hospital a week ago following treatment for a bladder infection.

The Duke showed he is making a good recovery as he waved to the crowds while accompanying the Queen in a glass coach to the televised military spectacle, which is held annually at Horse Guards Parade in Whitehall, central London.

The couple were due to travel in Queen Victoria's 1842 ivory-mounted phaeton carriage but switched due to the "unpredictable nature of the weather", a Buckingham Palace spokesman said.

Some of the biggest crowds ever to watch the procession lined the Mall, while thousands of people packed into seats and stands to see precision marching by hundreds of Guardsmen.

The Queen, wearing a primrose yellow coat and dress by Angela Kelly with matching hat, and displaying her Brigade of Guards brooch, stood beside the Duke as they inspected the long line of troops wearing their red tunics and bearskins.

The Duchess of Cambridge, Prince Harry and the Duchess of Cornwall were among the spectators after arriving together in a horse-drawn carriage. Kate, wearing a grey Erdem dress with a Jane Corbett designed hat, watched proudly as the Duke of Cambridge rode on horseback in his role as Colonel of the Irish Guards.

The Prince of Wales, who is Colonel of the Welsh Guards, the Princess Royal, Colonel of the Blues and Royals, and the Duke of Kent, Colonel of the Scots Guards, were also on parade.

Among the guests were the Duke of York with his daughters, Beatrice and Eugenie, the Earl and Countess of Wessex, Prime Minister David Cameron and wife Samantha, and King Abdullah II of Jordan.

The royal family rounded off the day's proceedings by gathering on the balcony of Buckingham Palace to watch the traditional RAF flypast.